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Control of an Orbital Manipulator with Reaction Wheels for On-orbit Servicing

Vijayan, Ria and De Stefano, Marco and Ott, Christian (2022) Control of an Orbital Manipulator with Reaction Wheels for On-orbit Servicing. In: 13th IFAC Symposium on Robot Control (SYROCO). IFAC. 13th IFAC Symposium on Robot Control (SyROCO), 17-20 Oct 2022, Virtual Conference. doi: 10.1016/j.ifacol.2023.01.129. ISSN 2405-8963.

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Official URL: https://www.sciencedirect.com/science/article/pii/S2405896323001362


In on-orbit servicing missions, a spacecraft equipped with a manipulator arm grasps a client satellite. Afterwards, the momentum-dumping phase follows and the manipulator can be utilized for servicing tasks. Once the momentum has been dumped, a desired manipulator configuration and base attitude may be needed for initializing a servicing phase such as berthing. The proposed approach prioritizes the attitude maintenance of the servicer spacecraft, and reconfigures the manipulator arm with the grasped client satellite in the nullspace of the servicer's attitude. The approach utilizes the redundancy in rotational degrees of freedom, provided by reaction wheels, to decouple the manipulator reconfiguration task from the attitude of the servicer-base. The proposed controller shows convergence of the attitude and joint-level task, independent of kinematic singularities of the manipulator arm. Additionally, the problem of speed saturation of the reaction wheels is tackled by increasing the damping torques as a function of the wheel speed. Simulation results verify the effectiveness of the proposed control approach.

Item URL in elib:https://elib.dlr.de/189352/
Document Type:Conference or Workshop Item (Speech)
Title:Control of an Orbital Manipulator with Reaction Wheels for On-orbit Servicing
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:October 2022
Journal or Publication Title:13th IFAC Symposium on Robot Control (SYROCO)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:On-orbit Servicing, Orbital Manipulator, Reaction Wheels
Event Title:13th IFAC Symposium on Robot Control (SyROCO)
Event Location:Virtual Conference
Event Type:international Conference
Event Dates:17-20 Oct 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:02 Dec 2022 17:18
Last Modified:09 Aug 2023 12:18

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